A container rapid loading and unloading handling device

Abstract

A kind of container quick loading and unloading handling device, including body device, two identical arm supports, for driving body device and the synchronous running of two arm supports multiple running devices, two the arm supports are symmetrically arranged on the left and right sides of body device side by side, the opposite inner side of two arm supports is equipped with the spin lock for being fastened with container corner fittings, each the arm support includes rear arm support, the rear end of the rear arm support is connected in the side of body device by connecting rod device, the front side of rear arm support is equipped with the front arm support that can be telescopic with linear drive device;Multiple the running device is symmetrically distributed on the outer side of two arm supports and body device, the running device includes lifting drive device, rotatable rudder wheel being arranged at the lower end of lifting drive device outer side;Save labor, shorten operation time, improve loading and unloading, transport efficiency.

Description

Technical Field

[0001] The present invention relates to the technical field of container loading, unloading and handling, and in particular to a device for rapid loading, unloading and handling of containers. Background Art

[0002] Loading, unloading, and handling are crucial aspects of the logistics system. Materials travel from production to the consumer, undergoing multiple transfers. Each time they pass through a distribution terminal and switch modes of transport, loading, unloading, and handling operations are necessary. The workload, time, manpower, and material resources consumed by these operations contribute significantly to the overall logistics process.

[0003] There are many types of container loading and unloading equipment and handling equipment. According to the mode of transportation, they can be divided into water, air, road, rail, etc., and according to the running mechanism, they can be divided into wheeled and rail-type. However, the types of equipment with loading, unloading and handling functions are much fewer, such as reach loaders, side loaders, hook arm loaders, straddle carriers, etc.

[0004] This method is difficult to meet the requirements for loading and unloading goods in some small or temporary freight yards, as well as for field loading and unloading and transportation with poor road conditions. Due to limited conditions, field loading and unloading and transportation mostly use large-tonnage off-road forklifts, truck cranes, fully loaded and unloaded trucks and simple lifting machinery for container loading and unloading. They have poor maneuverability and require other large-scale auxiliary loading and unloading equipment during the loading and unloading process, which is extremely inconvenient. Summary of the Invention

[0005] The purpose of the present invention is to overcome the above-mentioned deficiencies of the prior art and provide a container rapid loading, unloading and handling device, which saves labor, shortens operation time and improves loading, unloading and handling efficiency.

[0006] A container rapid loading and unloading device comprises a main body, two arms of identical structure, and a plurality of running devices for driving the main body and the two arms to move synchronously. The two arms are symmetrically arranged side by side on the left and right sides of the main body, and the opposing inner sides of the two arms are provided with rotary locks for fastening to the corresponding container corner fittings. Each of the arms comprises a rear arm, the rear end of which is pivotally connected to one side of the main body via a connecting rod device, and the front side of the rear arm is equipped with a front arm that can be extended and retracted with a linear drive device. The plurality of running devices are symmetrically distributed in pairs on the outer sides of the two arms and the main body, and the running device comprises a lifting drive device and a rotatable steering wheel provided at the lower end of the outer side of the lifting drive device.

[0007] Several ultrasonic sensors are distributed on the inner and outer surfaces of the two arms. Each steering wheel is equipped with a displacement sensor 1 for detecting the lifting position of the steering wheel. Each arm is equipped with a displacement sensor 2 for detecting the extension and retraction distance of its respective forearm. The handling device also includes a controller for collecting signals from each displacement sensor and the rotary encoder signal of the rotating motor on the steering wheel, thereby controlling the lifting, rotation, and movement of each steering wheel and the extension and retraction of the forearm.

[0008] The rear end of the rear arm is bent outward to form a bent portion.

[0009] The connecting rod device is composed of two connecting rod groups, and the two connecting rod groups are symmetrically and parallelly hinged between the two ends of the bending part of the rear arm frame and the main body device through the rotating axis.

[0010] The connecting rod group includes two connecting rods arranged in parallel up and down, a vertical vertical rod is connected between the two connecting rods, and both ends of the two connecting rods are provided with through holes for installing the rotating shaft.

[0011] The lifting drive device is a linear motor, the stator of the linear motor is fixedly connected to the arm or the main body device, and the stator of the mover sliding device of the linear motor has a mounting platform protruding from the outer side of the mover for mounting the steering wheel.

[0012] The controller input end has an analog input module for collecting data from the rotary encoder and various displacement sensors, and the output end has an analog output module for outputting control signals to the telescopic motor driver of the linear drive device, the linear motor driver of the lifting drive device, the rotary motor driver of the steering wheel, and the walking motor driver, as well as multiple relays for outputting switch signals to the enable terminals of each driver and other loads.

[0013] The transport device further comprises a power supply system for providing power to the controller.

[0014] The power supply system includes a DC24V power supply, a charger, and an internal combustion engine generator set for powering the charger.

[0015] The controller output port is connected in parallel with a fault alarm module, a sound prompt module and a status indicator light, and the controller input and output ports are connected to the touch screen.

[0016] The beneficial effects of this invention are: it eliminates the need for other hoisting and lifting equipment and dedicated shipping vehicles for loading and unloading. It integrates loading and unloading functions, has a high degree of automation, eliminates the need for dedicated cranes and lifting equipment, and reduces loading and unloading costs. Furthermore, products automatically enter and exit standard containers, achieving standardized and modular product transportation. This solves the problems of existing equipment, such as bulky equipment, low automation, and the need for dedicated shipping vehicles.

[0017] It is an intelligent integrated equipment that can quickly load, unload and transport containers (both on-vehicle and on the ground) without relying on external power sources or external equipment. It can be loaded into containers without disassembling. At the same time, it can load containers of various specifications within a certain range, saving labor, shortening operation time, and improving loading, unloading and transportation efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a structural schematic diagram of the present invention;

[0019] Figure 2 is a block diagram of the control system of the present invention;

[0020] Figure 3 It is a schematic diagram of the expanded state of the present invention;

[0021] Figure 4 This is a schematic diagram of the present invention entering a container for transportation;

[0022] Figure 5 This is a schematic diagram of the present invention entering a vehicle-mounted container for transportation;

[0023] Figure 6 This is a schematic diagram of the loading and unloading state of the vehicle-mounted box of the present invention;

[0024] Figure 7 This is a schematic diagram of the device of the present invention in an unfolded state after being taken out of the vehicle-mounted container;

[0025] Figure 8 This is a schematic diagram of the cross-box travel of the ground box of the present invention;

[0026] Figure 9 This is a schematic diagram of the unlocking result of the ground box of the present invention;

[0027] Figure 10 It is a straight line trajectory diagram of the present invention;

[0028] Figure 11 This is a shrinking and expanding trajectory diagram of the present invention;

[0029] Figure 12 It is a curve trajectory diagram of the present invention in the retracted state;

[0030] Figure 13 It is a curve trajectory diagram of the present invention in the unfolded state;

[0031] In the figure: 1. Main unit, 2. Internal combustion engine generator set, 3. Traveling device, 4. Connecting rod device, 5. Rotating shaft, 6. Rotary lock, 7. Right rear arm frame, 8. Left rear arm frame, 9. Control system, 10. Left front arm frame, 11. Right front arm frame, 12. Steering wheel, 13. Rotating motor, 14. Stator, 15. Mover, 17. Lifting drive device. DETAILED DESCRIPTION

[0032] The technical solutions in the embodiments of the present invention will now be described clearly and completely with reference to the accompanying drawings. The accompanying drawings are simplified schematic diagrams and only illustrate the basic structure of the present invention in a schematic manner.

[0033] according to Figure 1 As shown, the present invention includes a main body device 1, two left and right arms with identical structures arranged behind the main body device 1, the left arm and the right arm are arranged side by side, the main body device 1 is a T-shaped structure composed of a longitudinal plate perpendicular to the two arms and a transverse plate connected to the middle of one end of the longitudinal plate, the left arm consists of a left rear arm 8 and a left forearm 10 that can be telescoped in the inner cavity of the left rear arm 8, the right arm consists of a right rear arm 7 and a right forearm 11 that can be telescoped in the right rear arm 7, a linear drive mechanism for driving the left forearm 10 and the right forearm 11 to telescope is arranged in the inner cavity of the left rear arm 8 and the right rear arm 7, the rear ends of the left rear arm 8 and the right rear arm 7 are respectively connected to the main body device 1 through a connecting rod device 4, and the left and right arms are rotated toward the outer contour around the rotating shaft 5 on the two ends of the connecting rod device 4 by the driving of the running device 3. The rear ends of the left and right rear booms 8 and 7 are bent outward to form a curved section. The connecting rod assembly 4 consists of two connecting rod groups, symmetrically and parallely hinged between the ends of the curved section of the rear boom and the main unit 1 via a rotating shaft 5. The connecting rod groups include two connecting rods arranged in parallel with each other, with a vertical rod connecting the two connecting rods. Both ends of the connecting rods are provided with through holes for mounting the rotating shaft 5. Twist locks 6 for fastening to the corresponding container corner fittings are installed on the inner front ends of the left and right front booms 10 and 11, and on the inner rear ends of the left and right rear booms 8 and 7. A running gear 3 is installed on the outer front ends of the left and right front booms 10 and 11, the outer rear ends of the left and right rear booms 8 and 7, and both outer sides of the main unit 1. The running gear 3 includes a lifting drive 17 and a steering wheel 12, which can rotate 360 ​​degrees. The lifting drive 17 is a linear motor. Its stator 14 is fixedly connected to the boom or main unit 1. The linear motor's mover 15 slides on the stator 14. A mounting platform for the steering wheel 12 protrudes from the outer side of the mover 15. The linear motor's mover is connected to both sides of the main unit 1. The left and right rear booms 8 and 7 are mirror-imaged, with their rear ends hinged to the left end of the connecting rod 4 via a rotating shaft 5. The rear ends of the left and right rear booms 8 and 7 are connected to the linear motor's mover. The rear ends of the left and right rear booms 8 and 7 are equipped with rotary locks 6 that connect to the container's corner fittings. The left and right front booms 10 and 11 are mirror-imaged, slidingly connected to the left and right rear booms 8 and 7. They are driven to extend and retract by the linear drive. The linear motor's mover is mounted on the outer front ends of the front ends, along with the rotary locks 6 that connect to the container's corner fittings. An internal combustion engine generator set 2 is located above the main unit 1 to provide power.

[0034] according to Figure 2As shown in the control system block diagram, the control system 9 includes a PLC controller, a displacement sensor 1 for detecting the lifting position of each steering wheel 12, and a displacement sensor 2 for detecting the extension and retraction distance of each forearm. The PLC controller collects signals from the displacement sensor 1 on each steering wheel 12, the displacement sensor 2 on each forearm, and the rotary encoder signals from the rotary motor 13 on each steering wheel 12 to control the telescopic motor driver of the forearm linear drive, the linear motor driver of the lifting drive 17, and the steering wheel 12's travel and rotary motor drivers. Controlling motor operations through the PLC is conventional technology and will not be described in detail in this embodiment. The control system is powered by an AC 380V power supply from the internal combustion engine generator and a DC 24V battery pack. The controller input includes an analog input module for collecting signals from the rotary encoder and each displacement sensor. The output includes an analog output module for outputting control signals to the linear drive driver, the linear motor driver of the lifting drive 17, the steering wheel 12's rotary motor driver, and the travel motor driver. Furthermore, multiple relays are provided for outputting switch signals to the enable terminals of each driver and other loads.

[0035] Control system 9 uses the ST60+ analog input and output expansion module within the PLC controller as the system's core controller. Signals from ultrasonic sensors control the steering system, consisting of the travel and steering motors, in real time, enabling autonomous, barrier-free navigation. Data from displacement sensors, which are pull-rope sensors, is used to control the operation of the lift and telescopic motors.

[0036] The control power supply of the entire system is powered by a 24V / 100Ah battery, and the power supply is provided by a diesel generator set with AC380V power, and a large current automatic charging function is provided.

[0037] The electronic control system for the four-wheel steering system consists of six travel motors with encoder feedback driving the travel, and twelve (dual six-way) steering motors driving each steering wheel (12). Because the travel motors have a large load capacity, steering is achieved by two electric telescopic cylinders above the drive wheels. The travel motor drivers for the steering wheels (12) are controlled by a PLC. Hall sensors installed on the motors monitor parameters such as motor rotation angle, speed, and phase, providing real-time feedback on motor speed. The PLC controller also controls the twelve steering motor drivers for the six steering wheels, controlling the steering of the loading and unloading equipment. It also receives steering motor angle feedback from the turntables on the steering wheels (12). When retracting or extending is required, the PLC controls the two telescopic motor drivers on the left and right booms, controlling the extension of the booms and obtaining feedback on the extension length from displacement sensors. When the equipment needs to be raised or lowered, the PLC controls the six linear motors to adjust their height, obtaining feedback on the height from the displacement sensors.

[0038] The touch screen is connected to the input and output ports of the PLC controller. The touch screen is designed to facilitate the movement of loading and unloading equipment. During the debugging process, the touch screen can also be used to control the movement of the equipment to different locations for debugging of sensors and control parameters.

[0039] The analog input module primarily collects signals from rotary encoders, ultrasonic sensors, displacement sensors, and other sensors. The analog output module controls the travel motor driver, steering motor driver, outrigger lift motor, and boom extension motor, ensuring they drive the corresponding motors as required. The relay module increases drive capability, employing relay outputs to provide driver enable signals or drive other loads.

[0040] The human-computer interaction module includes a sound prompt module, a fault alarm module, a status indicator light, and a touch screen. The sound prompt module can prompt each process of the loading and unloading equipment movement. The fault alarm module will issue an alarm signal when the control system detects a fault such as excessive motor temperature. The status indicator light can indicate obstacle avoidance and anti-collision prompts during movement, and the touch screen can display menus, various parameters, etc., on which various movement parameters of the loading and unloading equipment can be set during the debugging process.

[0041] There are eight operating states:

[0042] 1) Deployment: used to control the process of the loading and unloading equipment from the retracted state to the expanded state after being unloaded from the container;

[0043] 2) Retraction: used to control the process of the loading and unloading equipment changing from the expanded state to the retracted state when preparing to enter the container;

[0044] 3) Ground loading: used to control the loading and unloading equipment to move autonomously into the container;

[0045] 4) Vehicle-mounted container loading: used to control the loading and unloading equipment to lift the boom to the vehicle-mounted container loading height and then move autonomously into the container;

[0046] 5) Ground unloading: used to control the loading and unloading equipment to move out of the box;

[0047] 6) Cargo unloading: used to control the loading and unloading equipment to move out of the car and land on the ground;

[0048] 7) Cross-box travel: used to control loading and unloading equipment to surround the box;

[0049] 8) Manually operated container lock and release: The container lock and release system is primarily used to control the insertion, tightening, and release of the rotary locks on the two main booms into the container corner fittings. When the container is on the ground or on a vehicle, the rotary locks on the two main booms will rise and fall as the main booms are positioned near the lock holes of the container's four corner fittings. By controlling the locking and unlocking of the rotary locks, the rotary locks can be inserted into and released from the container corner fittings. Auxiliary cameras are installed at each corner fitting.

[0050] By any combination of these eight loading and unloading equipment states, the movement process of all loading and unloading equipment can be met.

[0051] according to Figure 3 As shown in the figure, it is a schematic diagram of the expanded state, and the reverse process of this figure is the retraction; after the device is taken out of the box, due to the use of a steering wheel structure, each of its wheels can rotate 180°, and the control system 9 controls the four steering wheels 12 on both sides of the arm to rotate outward to the same angle, and the angles of the two steering wheels of the main body device 1 remain unchanged, and then the travel speeds of the six steering wheels are made consistent, so as to control its deformation from the retracted state to the expanded state; the four steering wheels 12 on the two arms form an angle with the horizontal direction, and the two steering wheels 12 on the main body device 1 are parallel to the horizontal direction. At this time, the two main arms can move outward in a direction with an angle of ± a set angle with the horizontal direction, which will drive the two main arms to make circular motion in the rotating arm centered on the main body, and the final result is a double-arm expanded state.

[0052] according to Figure 4 As shown in the figure, there is a schematic diagram of the state of the device being transported into the container after being retracted; when entering the container from the ground, the six steering wheels are first controlled to align the device with the container entrance, and the two main booms are placed near the edge of the container entrance. During the process of moving forward in the container, the ultrasonic sensors on the outside of the left and right main booms are used to position the device, and the feedback is fed back to the control system to adjust the forward direction of the six steering wheels to ensure that the left and right main booms do not collide with the container during movement, thus completing the ground entry into the container.

[0053] according to Figure 5The figure shows the device entering the transport state inside the vehicle-mounted container. First, by controlling the six steering wheels, the device is aligned with the container entrance and the two main booms are positioned near the edge of the container entrance. The control system 9 controls the lifting drive 17 to simultaneously raise the main device 1 and the two booms to a certain height relative to the container entrance. The control system 9 controls the six steering wheels 12 to advance the running wheels. When the front end of the main boom detects that it has entered the container, the lifting drive 17 on the front side of the left and right main booms descends, retracts to its initial position, and continues to advance a set distance, maintaining contact with the bottom of the container. The control system 9 controls the lifting drive 17 on the rear end of the left and right main booms to descend, retract to its initial position, and continue to advance a set distance, maintaining contact with the bottom of the container. The lifting drive 17 on both sides of the main device 1 descends, retracts to its initial position, and continues to advance a set distance, completing the loading and unloading process. During the advancement process in the container, ultrasonic sensors on the outside of the left and right main booms provide positioning information, which is fed back to the control system to adjust the direction of the steering wheels to prevent the left and right main booms from colliding with the container.

[0054] according to Figure 6 As shown, the schematic diagram of the loading and unloading status of the vehicle box;

[0055] according to Figure 7 As shown, it is a schematic diagram of the device being unloaded from the vehicle container; the control system 9 controls the six steering wheels to rotate parallel to the horizontal direction, and stops after moving backward for a set distance. The control system 9 controls the running devices 3 on both sides of the main device 1 to lift and lower the steering wheels 12 (the driving wheels are lowered at this time) until they reach the ground; the control system 9 controls the six steering wheels 12 to move backward for a set distance and then stop. The control system 9 continues to control the two running devices 3 at the rear end of the left and right main booms to lift until the steering wheels of the rear running devices touch the ground; the control system 9 controls the steering wheels 12 to move, and stops after moving backward for a set distance. The control system 9 continues to control the running devices at the front end of the left and right main booms to lift until the steering wheels touch the ground; the control system 9 controls the six steering wheels to move, and stops after moving backward for a set distance. Then, the control system 9 controls the lifting drive devices 17 of the six running devices to simultaneously lower the main device 1 and the two main booms to the ground position.

[0056] according to Figure 8 The figure shows a schematic diagram of ground-to-ground container movement. After the device is unloaded, it is first deployed, then controlled to move (the main body is in the tail direction) near the ground container, aligning the opening with the container while maintaining a neutral position between the left and right main booms. The six steering wheels are then controlled forward so that the two main booms surround the container. During this movement, ultrasonic sensors on the inside of the left and right main booms provide positioning information, which is fed back to the control system to adjust the direction of the six steering wheels to prevent the left and right main booms from colliding with the container.

[0057] When traveling across containers on a vehicle, the loading and unloading equipment, after unloading the container, deploys and is then controlled to move near the container. The lifting mechanism simultaneously raises the main body and two main booms to a position flush with the container's corner fittings (not aligned). The opening is aligned with the container, with the left and right main booms positioned neutrally. The six steering wheels are then controlled forward, ensuring the two main booms encircle the container. During this process, ultrasonic sensors on the inside of the left and right main booms provide positioning information, providing feedback to the control system, which adjusts the direction of the six steering wheels to prevent collision between the left and right main booms and the container.

[0058] according to Figure 9 As shown in the figure, a schematic diagram of the locking and releasing results of the ground container is shown; the locking and releasing of the container body is mainly used to control the insertion, rotation tightening and release of the rotary locks on the two main booms and the corner fittings of the container. When the container body is on the ground or on a vehicle, the rotary locks on the two main booms will be located near the lock holes of the four corner fittings of the container as the main booms rise and fall. By manually adjusting the relative position of the lock holes and the rotary locks, and then controlling the locking and unlocking process of the rotary locks, the process of inserting the rotary locks into the corner fittings of the container and separating the rotary locks from the container corner fittings can be realized.

[0059] according to Figure 10 As shown in the linear trajectory diagram, thanks to the use of steering wheels, each wheel of the loading and unloading equipment can rotate 180°. Therefore, as long as the control system 9 controls the rotation angles of the six steering wheels and the travel speed to be consistent, the loading and unloading equipment can be controlled to move in a linear direction. (1) The loading and unloading equipment is in the retracted state; (2) The loading and unloading equipment is in the deployed state, the six steering wheels are controlled to rotate parallel to the Y-axis, in which case the loading and unloading equipment can move in the positive or negative direction of the Y-axis; (3) The loading and unloading equipment is in the retracted state, the four steering wheels are controlled to rotate at a 45° angle to the positive direction of the X-axis; (4) The loading and unloading equipment is in the deployed state, the four steering wheels are controlled to rotate at a 45° angle to the positive direction of the X-axis, in which case the loading and unloading equipment can move forward and backward along a direction with a 45° angle to the positive direction of the X-axis.

[0060] according to Figure 11 As shown in the figure, the retraction and deployment trajectory diagram shows the control system 9 controlling the four steering wheels on the left and right booms of the loading and unloading equipment (the left and right steering wheels are mirror images). The two steering wheels on the main unit 1 are parallel to the Y-axis. In the retracted state, the two front and rear steering wheels on the left boom are controlled to rotate at a 45° angle to the Y-axis, while the two front and rear steering wheels on the right boom are controlled to rotate at a -45° angle to the Y-axis. The left boom drive wheel rotates counterclockwise, while the right boom drive wheel rotates clockwise. Driven by both booms, the four-bar linkage rotates 90° along the hinge to control the loading and unloading equipment from the retracted state to the deployed state. This is the transition from the retracted state to the deployed state. To achieve the retracted state, the drive wheels rotate in the opposite direction.

[0061] according to Figure 12 、 Figure 13As shown in the curved trajectory diagram; the control system 9 controls the motion trajectories of the six steering wheels of the loading and unloading equipment to be on six arcs respectively, and controls the speed of each steering wheel to be proportional to the radius of the arc, so as to control the handling robot to perform curved motion. Assuming that the coordinates of the origin O of the coordinate system are (𝑥0, 𝑦0), the coordinates of the center O1 of the six arc trajectories in the retracted state are (𝑥1, 𝑦1), and the coordinates of the center O2 of the six arc trajectories in the expanded state are (𝑥2, 𝑦2), and since the parameters such as the size of the loading and unloading equipment and the installation position of the steering wheel are known, the radius of the six arc trajectories and the turning angle of each steering wheel can be calculated.

Claims

1. A container rapid loading and unloading device, characterized by: The invention comprises a main body device (1), two arms of the same structure, and a plurality of running devices (3) for driving the main body device (1) and the two arms to run synchronously, wherein the two arms are symmetrically arranged side by side on the left and right sides of the main body device (1), and a rotary lock (6) for fastening to the container corner piece is provided on the opposite inner side surfaces of the two arms, and each arm comprises a rear arm, the rear end of the rear arm is connected to one side of the main body device (1) via a connecting rod device (4), and the front side of the rear arm is provided with a front arm that can be extended and retracted along with the linear drive device; the plurality of running devices (3) are symmetrically distributed in pairs on the outer sides of the two arms and the main body device (1), and the running device (3) comprises a lifting drive device (17) and a rotatable steering wheel (12) provided at the lower end of the outer side of the lifting drive device (17); A plurality of ultrasonic sensors are distributed on the inner and outer surfaces of the two arms, each of the steering wheels (12) is provided with a displacement sensor 1 for detecting the lifting position of the steering wheel (12), and each of the arms is provided with a displacement sensor 2 for detecting the telescopic distance of each front arm, and the transport device further comprises a controller for collecting signals from each displacement sensor and a rotary encoder signal from a rotary motor (13) on the steering wheel (12), thereby controlling the lifting, rotation, and movement of each steering wheel, and the telescopic distance of the front arm; The rear end of the rear arm is bent outward to form a bent portion; The connecting rod device (4) is composed of two connecting rod groups, and the two connecting rod groups are symmetrically and parallelly hinged between the two ends of the bent part of the rear arm frame and the main body device (1) via the rotating shaft (5); The connecting rod group comprises two connecting rods arranged in parallel up and down, a vertical rod is connected between the two connecting rods, and both ends of the two connecting rods are provided with through holes for installing the rotating shaft (5); The controller controls the four steering wheels (12) on both sides of the arm to rotate outward to the same angle, the angles of the two steering wheels of the main body device (1) remain unchanged, and then the travel speeds of the six steering wheels are made consistent, so as to control the deformation from the retracted state to the expanded state; the four steering wheels (12) on the two arm frames are rotated to form an angle with the horizontal direction, and the two steering wheels (12) on the main body device (1) are parallel to the horizontal direction. At this time, the two arm frames can move outward in a direction with an angle of ± a set angle with the horizontal direction, which will drive the two arm frames to make a circular motion in the rotating arm centered on the main body device (1), and the final result is a double-arm expanded state.

2. A container rapid loading and unloading device according to claim 1, characterized in that: The lifting drive device (17) is a linear motor, the stator (14) of the linear motor is fixedly connected to the arm or the main body device (1), and the mover (15) of the linear motor slides on the stator (14), and the outer side surface of the mover (15) protrudes with a mounting platform for mounting the steering wheel (12).

3. The container rapid loading and unloading device according to claim 1, characterized in that: The controller input end has an analog input module for collecting the rotary encoder and each displacement sensor, the output end has an analog output module for outputting control signals to the telescopic motor driver of the linear drive device, the linear motor driver of the lifting drive device (17), the rotary motor driver of the steering wheel (12) and the walking motor driver, and a plurality of relays for outputting switch signals to the enable end of each driver and other loads.

4. A container rapid loading and unloading device according to claim 1 or 3, characterized in that: The transport device further comprises a power supply system for providing power to the controller.

5. The container rapid loading and unloading device according to claim 4, characterized in that: The power supply system comprises a DC24V power supply, a charger, and an internal combustion engine generator set (2) for supplying power to the charger.

6. A container rapid loading and unloading device according to any one of claims 1, 3, and 5, characterized in that: The controller output port is connected in parallel with a fault alarm module, a sound prompt module and a status indicator light, and the controller input and output ports are connected to the touch screen.

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